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Communication Dans Un Congrès Année : 2021

Market-based Multi-robot coordination with HTN planning

Résumé

We propose a decentralized approach that simultaneously al-locates and decomposes high level tasks among various robots. The ap-proach exploits HTN structures and algorithms, that are used within anauction-based allocation scheme, and aims at dealing with complex taskswith causal or temporal relations. The paper formalizes the approach,and depicts how HTN planning processes are used to estimate bids anddistribute tasks. Results on a statistical series of coverage problems arepresented and their performance is assessed through a comparison witha state of the art algorithm.
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Dates et versions

hal-03230342 , version 1 (19-05-2021)

Identifiants

  • HAL Id : hal-03230342 , version 1

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Antoine Milot, Estelle Chauveau, Simon Lacroix, Charles Lesire. Market-based Multi-robot coordination with HTN planning. Autonomous Robots and Multirobot Systems workshop (ARMS) 2021, May 2021, Montreal, Canada. ⟨hal-03230342⟩
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